Tracked vehicle with steering compensation

Abstract

A tracked vehicle includes a pilot control module which enables the pilot to steer the tracked vehicle using an existing joystick of the tracked vehicle. The tracked vehicle also includes a dual track drive pedal which drives the tracks of the vehicle simultaneously. The joystick is used to make steering corrections when utilizing the dual track drive pedal.

What is claimed is: 
     
       1. A tracked vehicle, comprising:
 a pair of tracks mounted on a track support structure, the pair of tracks movable independent of one another to cause movement of the tracked vehicle; 
 a vehicle body mounted to the track support structure, the vehicle body including an operator cabin; 
 a pair of drive pedals in the operator cabin, wherein one of the pair of drive pedals is configured to provide a drive input to one of the pair of tracks, and wherein the other one of the pair of drive pedals is configured to provide a drive input to the other one of the pair of tracks; 
 a joystick for controlling a function of the tracked vehicle; 
 a pilot control module, the pilot control module comprising:
 a dual track drive pedal, the dual track drive pedal configured to provide a drive input to both tracks of the pair of tracks simultaneously; 
 a controller, the dual track drive pedal and joystick operably coupled to the controller such that the controller receives an input signal from the dual track drive pedal and from the joystick; and 
 a plurality of solenoid operated valves in fluid communication with a hydraulic drive system of the tracked vehicle, said solenoid operated valves being controlled by said controller. 
 
 
     
     
       2. The tracked vehicle of  claim 1 , wherein the input signal provided by the joystick is generated by at least one of a pair of pressure transducers. 
     
     
       3. The tracked vehicle of  claim 2 , wherein the pair of pressure transducers are configured to detect the input signal from the joystick of the tracked vehicle. 
     
     
       4. The tracked vehicle of  claim 1 , wherein the plurality of solenoid operated valves are in fluid communication with a main control valve of the tracked vehicle for controlling a distribution of hydraulic fluid power to each one of the pair of tracks from the hydraulic drive system. 
     
     
       5. The tracked vehicle of  claim 4 , wherein manipulation of the joystick produces a steering movement in the pair of tracks. 
     
     
       6. The tracked vehicle of  claim 1 , further comprising a plurality of isolation check valves connected, respectively, to an outlet of each one of the plurality of solenoid operated valves. 
     
     
       7. The tracked vehicle of  claim 6 , wherein the plurality of isolation check valves includes four isolation check valves, wherein two of said four isolation check valves are connected to one of the pair of drive pedals, and the other two of said four isolation check valves are connected to the other one of the pair of drive pedals. 
     
     
       8. The tracked vehicle of  claim 1 , wherein the pair of tracks includes a first track and a second track, and wherein the plurality of solenoid operated valves includes four solenoid operated valves. 
     
     
       9. The tracked vehicle of  claim 8 , wherein a first and a second one of the four solenoid operated valves are associated with the first track for controlling a direction of travel of the first track, and wherein a second and a third one of the four solenoid operated valves are associated with the second track for controlling a direction of travel of the second track. 
     
     
       10. A pilot control module for a tracked vehicle, the tracked vehicle having a pair of tracks movable independent of one another to cause movement of the tracked vehicle and a pair of drive pedals, wherein the pair of drive pedals are configured to provide a drive input to the pair of tracks to effectuate movement of the tracked vehicle, the tracked vehicle also including a joystick for controlling a function of the tracked vehicle, the pilot control module comprising:
 a dual track drive pedal, the dual track drive pedal configured to provide a drive input to both tracks of the pair of tracks simultaneously; 
 a pair of pressure transducers, the pair of pressure transducers configured to detect the input signal from the joystick of the tracked vehicle; 
 a controller, the dual track drive pedal and pair of pressure transducers coupled to the controller, the controller receiving an input signal from the dual track drive pedal and input signals from the pair of pressure transducers; 
 a plurality of solenoid operated valves in fluid communication with a hydraulic drive system of the tracked vehicle, the plurality of solenoid operated valves controlled by the controller such that the controller provides outputs signal to select ones of the plurality of solenoid operated valves to set an operational position of said select ones of the plurality of solenoid operated valves based on the input signals received from the dual track drive pedal and from the pressure transducers. 
 
     
     
       11. The pilot control module of  claim 10 , wherein the plurality of solenoid operated valves are in fluid communication with a main control valve of the tracked vehicle for controlling a distribution of hydraulic fluid power to each one of the pair of tracks from the hydraulic drive system such that manipulation of the joystick produces a steering movement in the pair of tracks. 
     
     
       12. The pilot control module of  claim 10 , further comprising a mode switch for toggling between a joystick steer off mode, and a joystick steer on mode, wherein the controller provides the output signal only in the joystick steer on mode. 
     
     
       13. The pilot control module of  claim 12 , wherein the mode switch is the dual track drive pedal such that manipulation of said dual track drive pedal toggles from the joystick steer off mode to the joystick steer on mode. 
     
     
       14. The pilot control module of  claim 12 , wherein the mode switch is a user manipulated switch separate from the dual track drive pedal. 
     
     
       15. The pilot control module of  claim 10 , wherein the controller is configured to only send the output signals based on the input signals from the pair of pressure transducers if said input signals from said pair of pressure transducers are received subsequently and concurrently with the input signal from the dual track drive pedal. 
     
     
       16. A method of installing a pilot control module in a tracked vehicle, the tracked vehicle having a pair of tracks movable independent of one another to cause movement of the tracked vehicle and a pair of drive pedals, wherein the pair of drive pedals are configured to provide a drive input to the pair of tracks to effectuate movement of the tracked vehicle, the tracked vehicle also including a joystick for controlling a function of the tracked vehicle, the method comprising:
 installing a pair of pressure transducers such that they detect a pressure input generated by a movement of the joystick and produce a corresponding input signal; 
 installing a controller, said controller operably connected to the pair of pressure transducers to receive the input signal produced by said pressure transducers; 
 associating the controller with a dual track drive pedal, said dual track drive pedal operably connected to the controller such that the controller receives an input signal produced by said dual track drive pedal; and 
 installing a plurality of solenoid operated valves such that the solenoid operated valves are in fluid communication with a hydraulic drive system of the tracked vehicle, wherein the plurality of solenoid operated valves are in fluid communication with a main control valve of the tracked vehicle for controlling a distribution of hydraulic fluid power to each one of the pair of tracks from the hydraulic drive system such that manipulation of the joystick produces a steering movement in the pair of tracks. 
 
     
     
       17. The method of  claim 16 , wherein the step of installing the pair of pressure transducers includes disabling an existing function of the joystick. 
     
     
       18. The method of  claim 16 , wherein the step of associating the controller with a dual track drive pedal includes installing said dual track drive pedal in the tracked vehicle. 
     
     
       19. The method of  claim 16 , wherein the step of associating the controller with a dual track drive pedal includes connecting the controller to a pre-existing dual track drive pedal. 
     
     
       20. The method of  claim 16 , further comprising installing a plurality of isolation check valves such that each one of the plurality of isolation check valves is connected downstream from an outlet of each one of the plurality of solenoid operated valves, respectively.